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US 12,529,710 B2Granted
Gyroscope and optical flow sensor scale calibration
AssigneeCeva Technologies, Inc.
InventorsDouglas Charles Carlson, Bryan A. Cook, Zhanlue Zhao, Yun Li
Life of this patent
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Abstract
A method for calculating a scale factor for a gyroscope can include detecting, by a gyroscope, a physical motion of a robot, detecting, by an optical flow (OF) sensor (and/or camera), one or more image signals including information; and deriving estimates of sensor calibration parameters based on the detected physical motion and the information.
Claims18
A method for calibrating a gyroscope located on a robot, the method comprising:
- detecting, by the gyroscope, a physical motion of the robot operating on a surface;
- detecting, by an optical flow (OF) sensor, one or more image signals including information, wherein the OF sensor detects features of the surface;
- deriving estimates of sensor calibration parameters of each of the gyroscope and the OF sensor based on the detected physical motion of the robot and the information;
- and
- calibrating the gyroscope based on the information and/or the estimates of sensor calibration parameters.
2 more elements
A system to calibrate a gyroscope located on a robot, the system comprising:
- the gyroscope configured to detect a physical motion of the robot operating on a surface;
- an optical flow (OF) sensor configured to generate one or more image signals including information, wherein the OF sensor detects features of the surface;
- and
- a processor configured to:
- derive estimates of sensor calibration parameters of each of the gyroscope and the OF sensor based on the detected physical motion of the robot and the information;
- and
- calibrate the gyroscope based on the information and/or the estimates of sensor calibration parameters.
4 more elements
Dependencies are inferred from the claim text.